钱森｜合肥工业大学｜学者主页

2026

Design, Modeling, and Adaptive Robust Control of a Novel Rigid-Flexible Coupled Parallel Robot

Xiaolong Hu, Sen Qian, Shuai Shao, Yong Liu, Bin Zi

IEEE International Conference on Mechatronics and Automation (ICMA)

DOI

2026

A Perceptive Robotic Gripper Based on a Multi-Spherical-Joints Self-Adaptive Palm Structure

Kun Bi, Tao Zhang, Huabing Zhu, Sen Qian, Yongping Shi, Ping Zhao, Yishan Zeng

Journal of Mechanical Design

DOI

2026

A Deep Learning-Based Approach for System Modeling of a Novel Cable-Driven Parallel Robot

Sen Qian, Zeyao Zhao, Tao Zhang, Yong Liu, Bin Zi

Journal of Mechanical Design

DOI

2026

Reconfigurable analysis and workspace optimization of modular cable-suspended parallel robot

Tao Zhao, Wei Dai, Fei Zheng, Xiaofei Lou, Sen Qian, Bin Zi

Scientific Reports

DOI

2026

Dynamic modeling and stepwise parameter identification of a 4-4R rigid-flexible coupled mechanism with inertial measurement unit

Guo-Hua Song, Sen Qian, Tao Zhang, Yong Liu, Changqi Li, Bin Zi

Nonlinear dynamics

DOI

2026

A synergistic verification algorithm for workspace analysis of cable-driven robots based on interval analysis

Sen Qian, Changqi Li, Tao Zhang, Yong Liu, Bin Zi

Mechanism and Machine Theory

DOI

2025

刚柔耦合3D打印机器人关键技术及应用 = Key Technologies and Applications of Rigid-flexible Coupling 3D Printing Robots

钱森

《科学出版社》

2025

Motion Analysis and Orientation Holding Control of a 3-RRR Rigid-Flexible Coupling Mechanism for Photovoltaic Panel Assembly

Sen Qian, Guohua Song, Bin Zi

Journal of Mechanical Design

DOI

2024

柔索驱动机器人运动规划与控制方法研究综述

钱森，李长奇，周斌，訾斌

《控制与决策》

DOI

2024

基于ROS的图书管理移动机器人的系统设计与实验研究

钱森，牛政翰

《电子机械工程》

2024

Modeling and Experimental Validation of a Cable-Driven Robot for Three-Dimensional Printing Construction

Sen Qian, Changqi Li, Zeyao Zhao, Bin Zi

Journal of Mechanisms and Robotics

DOI

2024

A Hybrid Method Combining Data-Driven and Model-Based Algorithms for External Force-Sensing and Haptics Control of Cable-Pulley-Driven Surgical Robotic Manipulator

Zhengyu Wang, Xiang Yu, Mingxin Hai, Sen Qian, Daoming Wang, Ziqian Li

Journal of Mechanisms and Robotics

DOI

2024

Calibration of Static Errors and Compensation of Dynamic Errors for Cable-driven Parallel 3D Printer

Sen Qian, Xiao Jiang, Pengfei Qian, Bin Zi, Weidong Zhu

Journal of Intelligent and Robotic Systems

DOI

2024

Deep reinforcement learning and decoupling proportional-integral-derivative control of a humanoid cable-driven hybrid robot

Yong Liu, Zhishen Luo, Sen Qian, Shuaikang Wang, Zhe Wu

International Journal of Advanced Robotic Systems

DOI

2023

An Improved Static Model for Bidirectional Notched Continuum Robot Considering the Cable Tension Loss

Zhengyu Wang, Zirui Jia, Sen Qian, Daoming Wang, Xiang Yu, Xuchang Liu

Journal of Mechanisms and Robotics

DOI

2023

Data-Based Shape Self-Sensing of a Cable-Driven Notched Continuum Mechanism Using Multidimensional Intrinsic Force Information for Surgical Robot

Zhengyu Wang, Xun Wei, Xiang Yu, Zirui Jia, Sen Qian, Daoming Wang

Journal of Mechanisms and Robotics

DOI

2023

Design and error compensation of a 3-degrees-of-freedom cable-driven hybrid 3D-printing mechanism

Sen Qian, Xiao Jiang, Yong Liu, Shuaikang Wang, Xiantao Sun, Hui-Hui Sun

Mechanical Sciences

DOI

2023

Tracking control with external force self-sensing ability based on position/force estimators and non-linear hysteresis compensation for a backdrivable cable-pulley-driven surgical robotic manipulator

Zheng-Yu Wang, Guangming Liu, Sen Qian, Dao-Ming Wang, Xun Wei, Xiang Yu

Mechanism and Machine Theory

DOI

2023

Research on workspace visual-based continuous switching sliding mode control for cable-driven parallel robots

Sen Qian, Ze-Yao Zhao, Pengfei Qian, Zheng-Yu Wang, Bin Zi

Robotica (Cambridge. Print)

DOI

2022

Design of a Novel Flexible Robotic Laparoscope Using a Two Degrees-of-Freedom Cable-Driven Continuum Mechanism With Major Arc Notches

Zhengyu Wang, Shiyang Bao, Daoming Wang, Sen Qian, Jianxi Zhang, Mingxin Hai

Journal of Mechanisms and Robotics

DOI

2021

Kinematic uncertainty analysis of a cable-driven parallel robot based on an error transfer model

Jun Gao, Bin Zhou, Bin Zi, Sen Qian, Ping Zhao

Journal of Mechanisms and Robotics

DOI

2020

机器人手臂开放式控制实验平台在实验教学中的应用

钱钧，訾斌，钱森

《教育教学论坛》

2020

基于改进蚁群算法的多起重机协作吊装装备避障性能研究

钱森，王春航

《中国工程机械学报》

DOI

2020

Algebraic Method-Based Point-to-Point Trajectory Planning of an Under-Constrained Cable-Suspended Parallel Robot with Variable Angle and Height Cable Mast

Tao Zhao, Bin Zi, Sen Qian, Jia-Hao Zhao

Chinese Journal of Mechanical Engineering

DOI

2020

Dynamic Trajectory Planning for a Three Degrees-of-Freedom Cable-Driven Parallel Robot Using Quintic B-Splines

Sen Qian, Kunlong Bao, Bin Zi, W.-D. Zhu

DOI

2019

并联臂增材制造机器人滑模变结构运动控制系统研究

孙辉辉，张玉洁，钱森，张伟杰

《组合机床与自动化加工技术》

DOI

2019

Design, stiffness analysis and experimental study of a cable-driven parallel 3D printer

Bin Zi, Ning Wang, Sen Qian, Kunlong Bao

Mechanism and Machine Theory

DOI

2019

Development of Modular Cable-Driven Parallel Robotic Systems

Sen Qian, Bin Zi, Dao-Ming Wang, Yuan Li

IEEE Access

DOI

2019

Typical configuration analysis of a modular reconfigurable cable-driven parallel robot

Tao Zhao, Bin Zi, Sen Qian, Zeqiang Yin, Dan Zhang

International Journal of Advanced Robotic Systems

DOI

2018

多功能模块化柔索导向装置设计及实验研究

刘浩，訾斌，王炳尧，钱森

《机械设计与制造》

2018

Kinematic Calibration of a Cable-Driven Parallel Robot for 3D Printing

Sen Qian, Kunlong Bao, Bin Zi, Ning Wang

Italian National Conference on Sensors

DOI

2018

Dynamic analysis of electrohydraulic cable-driven parallel robots

Zemichael Amare, Bin Zi, Sen Qian, L. Zu

Proceedings of the Institution of mechanical engineers. Part C, journal of mechanical engineering science

DOI

2018

A Review on Cable-driven Parallel Robots

Sen Qian, Bin Zi, Weiwei Shang, Qinghua Xu

Chinese Journal of Mechanical Engineering

DOI

2018

A Cable-Driven Parallel Robot for 3D Printing

Yan Zhong, Sen Qian

2018 IEEE International Conference on Mechatronics, Robotics and Automation (ICMRA)

DOI

2018

Three-dimensional static and dynamic stiffness analyses of the cable driven parallel robot with non-negligible cable mass and elasticity

Zemichael Amare, Bin Zi, Sen Qian, Jing-Li Du, Q. Ge

DOI

2017

可重构柔索并联机器人协同避障方法研究

訾斌，王炳尧，刘浩，钱森

《仪器仪表学报》

DOI

2017

Analysis and simulation of a cable-driven hybrid manipulator

Bin Xie, Bin Zi, Sen Qian

International Conference on Advanced Robotics and Mechatronics (ICARM)

DOI

2017

Mechanism Design and Analysis for an Automatical Reconfiguration Cable-Driven Parallel Robot

Tiantian Chen, Sen Qian, Yongchang Li, Zeqiang Yin

DOI

2016

Design and Analysis of a Circular-Orbit Underconstrained Cable Parallel Robot

Sen Qian, Bin Zi, H. Xue

DOI

2016

Vibration damper for structure parameter variable flexible cable parallel robot

Bin Zi, Hao Liu, Bingyao Wang, Sen Qian, Tian-Tian Chen

2016

Collision free force closure workspace determination of reconfigurable planar cable driven parallel robot

Bingyao Wang, Bin Zi, Sen Qian, Dan Zhang

Asia-Pacific Conference on Intelligent Robot Systems

DOI

2014

Iterative Learning Tracking Control of a Hybrid-Driven Based Three-Cable Parallel Manipulator

Bin Zi, Jian-Bin Cao, Sen Qian

DOI

2012

混合驱动柔索并联机器人系统集成设计

訾斌，曹建斌，钱森

《机械工程学报》

2012

焊接机器人非奇异Terminal滑模控制系统研究

孙辉辉，訾斌，钱森，李清伟，杨根喜

《机械设计》

精选作品

期刊论文

Design, Modeling, and Adaptive Robust Control of a Novel Rigid-Flexible Coupled Parallel Robot

A Perceptive Robotic Gripper Based on a Multi-Spherical-Joints Self-Adaptive Palm Structure

A Deep Learning-Based Approach for System Modeling of a Novel Cable-Driven Parallel Robot

Reconfigurable analysis and workspace optimization of modular cable-suspended parallel robot

Dynamic modeling and stepwise parameter identification of a 4-4R rigid-flexible coupled mechanism with inertial measurement unit

A synergistic verification algorithm for workspace analysis of cable-driven robots based on interval analysis

刚柔耦合3D打印机器人关键技术及应用 = Key Technologies and Applications of Rigid-flexible Coupling 3D Printing Robots

Motion Analysis and Orientation Holding Control of a 3-RRR Rigid-Flexible Coupling Mechanism for Photovoltaic Panel Assembly

柔索驱动机器人运动规划与控制方法研究综述

基于ROS的图书管理移动机器人的系统设计与实验研究

Modeling and Experimental Validation of a Cable-Driven Robot for Three-Dimensional Printing Construction

A Hybrid Method Combining Data-Driven and Model-Based Algorithms for External Force-Sensing and Haptics Control of Cable-Pulley-Driven Surgical Robotic Manipulator

Calibration of Static Errors and Compensation of Dynamic Errors for Cable-driven Parallel 3D Printer

Deep reinforcement learning and decoupling proportional-integral-derivative control of a humanoid cable-driven hybrid robot

An Improved Static Model for Bidirectional Notched Continuum Robot Considering the Cable Tension Loss

Data-Based Shape Self-Sensing of a Cable-Driven Notched Continuum Mechanism Using Multidimensional Intrinsic Force Information for Surgical Robot

Design and error compensation of a 3-degrees-of-freedom cable-driven hybrid 3D-printing mechanism

Tracking control with external force self-sensing ability based on position/force estimators and non-linear hysteresis compensation for a backdrivable cable-pulley-driven surgical robotic manipulator

Research on workspace visual-based continuous switching sliding mode control for cable-driven parallel robots

Design of a Novel Flexible Robotic Laparoscope Using a Two Degrees-of-Freedom Cable-Driven Continuum Mechanism With Major Arc Notches

Kinematic uncertainty analysis of a cable-driven parallel robot based on an error transfer model

机器人手臂开放式控制实验平台在实验教学中的应用

基于改进蚁群算法的多起重机协作吊装装备避障性能研究

Algebraic Method-Based Point-to-Point Trajectory Planning of an Under-Constrained Cable-Suspended Parallel Robot with Variable Angle and Height Cable Mast

Dynamic Trajectory Planning for a Three Degrees-of-Freedom Cable-Driven Parallel Robot Using Quintic B-Splines

并联臂增材制造机器人滑模变结构运动控制系统研究

Design, stiffness analysis and experimental study of a cable-driven parallel 3D printer

Development of Modular Cable-Driven Parallel Robotic Systems

Typical configuration analysis of a modular reconfigurable cable-driven parallel robot

多功能模块化柔索导向装置设计及实验研究

Kinematic Calibration of a Cable-Driven Parallel Robot for 3D Printing

Dynamic analysis of electrohydraulic cable-driven parallel robots

A Review on Cable-driven Parallel Robots

A Cable-Driven Parallel Robot for 3D Printing

Three-dimensional static and dynamic stiffness analyses of the cable driven parallel robot with non-negligible cable mass and elasticity

可重构柔索并联机器人协同避障方法研究

Analysis and simulation of a cable-driven hybrid manipulator

Mechanism Design and Analysis for an Automatical Reconfiguration Cable-Driven Parallel Robot

Design and Analysis of a Circular-Orbit Underconstrained Cable Parallel Robot

Vibration damper for structure parameter variable flexible cable parallel robot

Collision free force closure workspace determination of reconfigurable planar cable driven parallel robot

Iterative Learning Tracking Control of a Hybrid-Driven Based Three-Cable Parallel Manipulator

混合驱动柔索并联机器人系统集成设计

焊接机器人非奇异Terminal滑模控制系统研究

预印本

Motion Planning for Series–Parallel Hybrid Robots UsingMulti-Objective Particle Swarm Optimization

书籍章节

Design and Dynamics of the Cooperative Cable Parallel Manipulators for Multiple Mobile Cranes

Performance Indices of the Hybrid-Driven Based Cable-Suspended Parallel Robots

Integrated Mechanism Design and Control of the Hybrid-Driven Based Cable-Suspended Parallel Robots

Obstacle Avoidance Planning of the Cooperative Cable Parallel Manipulators for Multiple Mobile Cranes

Error Analysis of the Hybrid-Driven Based Cable-Suspended Parallel Robots

Introduction

Kinematics and Dynamics of the Feed Cable-Suspended Structure for Super Antenna

Trajectory Tracking Control of the Feed Cable-Suspended Structure for Super Antenna

Development, Coordinated Control and Experiments of the Cooperative Cable Parallel Manipulators for Multiple Mobile Cranes

书籍

Design, Analysis and Control of Cable-suspended Parallel Robots and Its Applications

研究方向